Children and young people with a disability experience challenges in accessing urban environments. This study aimed to generate ideas that can help make an inner-city local government area in Melbourne, Australia more inclusive for children and young people with disability. A workshop was held with children and young people self-identifying as having a disability (n = 5) and their parents and guardians (n = 4). Participants brainstormed ideas in response to a prompt centred on ways that Melbourne's inner-city could be made more inclusive for children and young people with a disability. A qualitative analysis of the ideas was undertaken. Ideas common across both groups included the need for adequate and disability-appropriate communication, the provision of pedestrian infrastructure, and accessible public transport. The study's findings have direct relevance for policy makers, informing upcoming policy in the local municipality. The value of research/policy/lived experience-collaborations for local policy improvement is clear, as they provide an opportunity to draw upon a range of perspectives to identify and address local challenges, while also informing larger-scale projects and initiatives in other cities. Through such collaborations, it is possible to tailor infrastructure and accessibility improvements to the specific needs of local communities, resulting in more effective and equitable policy outcomes. •Young people with disability experience challenges accessing urban environments.•We undertook workshops investigating ideas to facilitate disability inclusion.•Themes included communication, pedestrian infrastructure, and public transport.•Policymakers and people with lived experience provide important research insights.